Ruggedized autonomous helicopter platform

ABSTRACT

An unmanned helicopter platform includes a fuselage, a tail coupled with the fuselage, a payload rail coupled with and extending along the fuselage and a main rotor assembly coupled with the fuselage. The tail includes a tail rotor and a tail rotor motor. The main rotor assembly includes a main rotor having an axis of rotation and a main rotor motor. The payload rail allows mechanical connection of payloads to the fuselage and positioning of the payloads such that a center of gravity of the payloads is alignable with the axis of rotation.

CROSS REFERENCE TO OTHER APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/165,470 entitled RUGGEDIZED AUTONOMOUS HELICOPTER PLATFORM filed Oct.19, 2018 which is incorporated herein by reference for all purposes.

BACKGROUND OF THE INVENTION

Conventional unmanned aerial vehicles (UAVs), or drones, are useful forperforming in a number of tasks. Such drones may perform surveillance,delivery of commercial packages or weaponry, mapping of distant orinhospitable regions and/or other missions. Although useful, such dronessuffer from a number of drawbacks. For example, drones are typicallyremotely piloted, may lack reliability, may be slower than desired, mayhave limited range, and/or may have other issues that adversely affectperformance. Consequently, research into drones is ongoing.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

FIGS. 1A-1D depict various views of exemplary embodiments of an unmannedhelicopter platform.

FIGS. 2A-2B depict another exemplary embodiment of an unmannedhelicopter platform having landing gear without and with payloads.

FIGS. 3A-3B are diagrams depicting various perspective and side views ofan exemplary embodiment of a swash plate assembly usable in an unmannedhelicopter platform.

FIGS. 4A-4D are diagrams depicting exemplary embodiments of a modulartail coupling for an unmanned helicopter platform.

FIG. 5 depicts another exemplary embodiment of an unmanned helicopterplatform having a modular tail coupling.

FIGS. 6A-6B depict an exemplary embodiment of an unmanned helicopterplatform having retractable landing gear.

FIG. 7 depicts an exemplary embodiment of a method for loading anunmanned helicopter.

FIG. 8 is a block diagram depicting an exemplary embodiment of a controlsystem for an unmanned helicopter.

FIG. 9 is a flow chart depicting an exemplary embodiment of a method forautonomously performing tasks using an exemplary embodiment of anunmanned helicopter.

FIGS. 10A-10B depict a flow chart of an exemplary embodiment of a methodfor autonomously searching an area using an exemplary embodiment of anunmanned helicopter.

FIGS. 11A-11D depict exemplary embodiments of possible routes forsearching an area for an object.

FIG. 12 is a flow chart depicting an exemplary embodiment of a methodfor autonomously returning home using an exemplary embodiment of anunmanned helicopter.

FIG. 13 is a flow chart depicting an exemplary embodiment of a methodfor autonomously landing an exemplary embodiment of an unmannedhelicopter.

FIG. 14 is a flow chart depicting an exemplary embodiment of a methodfor autonomously avoiding selected area(s) while performing other tasksusing an exemplary embodiment of an unmanned helicopter.

FIG. 15 is a flow chart depicting an exemplary embodiment of a methodfor autonomously capturing images of an object using an exemplaryembodiment of an unmanned helicopter.

FIG. 16 is a flow chart depicting an exemplary embodiment of a methodfor autonomously following an object emitting a signal using anexemplary embodiment of an unmanned helicopter.

FIG. 17 is a flow chart depicting an exemplary embodiment of a methodfor autonomously remaining acoustically undetectable using an exemplaryembodiment of an unmanned helicopter.

FIG. 18 is a flow chart depicting an exemplary embodiment of a methodfor autonomously patrolling a route using an exemplary embodiment of anunmanned helicopter.

FIG. 19 is a flow chart depicting an exemplary embodiment of a methodfor autonomously responding to faults using an exemplary embodiment ofan unmanned helicopter.

FIG. 20 is a flow chart depicting an exemplary embodiment of a methodfor autonomously handing off duties to another drone using an exemplaryembodiment of an unmanned helicopter.

FIG. 21 is a flow chart depicting an exemplary embodiment of a methodfor autonomously remaining obscured by the sun while surveilling anobject using an exemplary embodiment of an unmanned helicopter.

FIG. 22 is a flow chart depicting an exemplary embodiment of a methodfor performing part of a mission from a stationary location using anexemplary embodiment of an unmanned helicopter.

FIG. 23 is a flow chart depicting an exemplary embodiment of a methodfor autonomously landing at a user-selected landing site using anexemplary embodiment of an unmanned helicopter.

FIG. 24 is a flow chart depicting an exemplary embodiment of a methodfor autonomously centering a region of interest for an image using anexemplary embodiment of an unmanned helicopter.

FIG. 25 is a flow chart depicting an exemplary embodiment of a methodfor autonomously employing optical camouflage using an exemplaryembodiment of an unmanned helicopter.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter; a computerprogram product embodied on a computer readable storage medium; and/or aprocessor, such as a processor configured to execute instructions storedon and/or provided by a memory coupled to the processor. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention. Unless stated otherwise, a component such as aprocessor or a memory described as being configured to perform a taskmay be implemented as a general component that is temporarily configuredto perform the task at a given time or a specific component that ismanufactured to perform the task. As used herein, the term ‘processor’refers to one or more devices, circuits, and/or processing coresconfigured to process data, such as computer program instructions.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

In one aspect, an unmanned helicopter platform is described. Theunmanned helicopter platform includes a fuselage housing flight controlelectronics, a tail coupled with the fuselage, a main rotor assemblycoupled with the fuselage and the flight control electronics and apayload rail coupled with and extending along the fuselage. The tailincludes a tail rotor and a tail rotor motor. The main rotor assemblyincludes a main rotor having an axis of rotation and a main rotor motor.The payload rail allows mechanical connection of a plurality of payloadsto the fuselage. The payload rail allows positioning of the plurality ofpayloads connected to the payload rail such that a center of gravity ofthe plurality of payloads is able to be aligned with the axis ofrotation of the main rotor.

In another aspect, a system for controlling an unmanned helicopter isillustrated. The unmanned helicopter includes a fuselage for retainingflight electronics therein, a tail section coupled with the fuselage, amain rotor assembly coupled with the fuselage, and a payload railcoupled to the fuselage. The system includes a processor and a memorycoupled to the processor. The processor is configured to receive a taskand dynamically determine a route for the unmanned helicopter for thetask. The route is based on the task, geography for the route, andterrain along the route. The processor is also configured toautonomously perform the task including flying along at least a portionof the route. The memory is configured to provide the processor withinstructions for determining the route and performing the task.

In another aspect, a method for controlling an unmanned helicopter isdescribed. The unmanned helicopter includes a fuselage for retainingflight electronics therein, a tail section coupled with the fuselage, amain rotor assembly coupled with the fuselage, and a payload railcoupled to the fuselage. The method includes receiving a task anddynamically determining, using a processor, a route for the unmannedhelicopter to use in performing the task. The route is based on thetask, geography for the route, and terrain along the route. The methodalso includes autonomously performing the task including flying along atleast a portion of the route.

In another aspect, a computer program product for controlling anunmanned helicopter is discussed. The unmanned helicopter includes afuselage for retaining flight electronics therein, a tail sectioncoupled with the fuselage, a main rotor assembly coupled with thefuselage, and a payload rail coupled to the fuselage. The computerprogram product may be embodied in a non-transitory computer readablestorage medium and includes computer instructions for receiving a taskand dynamically determining a route for the unmanned helicopter for thetask. The route is based on the task, geography for the route, andterrain along the route. The computer-program product also includescomputer instructions for autonomously performing the task includingflying along at least a portion of the route.

In another aspect, a method of loading an unmanned helicopter isillustrated. The unmanned helicopter includes a fuselage, a tail, a mainrotor assembly and at least one payload rail. The fuselage houses flightcontrol electronics. The tail is coupled with the fuselage and includesa tail rotor and a tail rotor motor. The main rotor assembly is coupledwith the fuselage. The main rotor assembly includes a main rotor havingan axis of rotation and a main rotor motor. The at least one payloadrail is coupled with and extends along the fuselage. The at least onepayload rail allows mechanical connection of a plurality of payloads tothe fuselage. The method includes suspending the unmanned helicopterfrom the axis of rotation of the main rotor. The method also positioningthe plurality of payloads along the at least one payload rail such thatthe unmanned helicopter is suspended upright. The plurality of payloadsare positioned along the at least one payload rail such that a center ofgravity of the plurality of payloads is aligned with the axis ofrotation of the main rotor.

FIGS. 1A-1D depict various views of exemplary embodiments of an unmannedhelicopter platform 100. For clarity, FIGS. 1A-1D are not to scale andsome components may be omitted and/or not labeled in various views. FIG.1A is a block diagram of an embodiment of an unmanned helicopter 100.FIGS. 1B-1D depict side, perspective and front views of portions of aparticular embodiment of an unmanned helicopter 100.

Unmanned helicopter 100 includes fuselage 110, payload rail 120, tail130, main rotor assembly 140 and external communications module 150.Fuselage 110 provides structure and stability to unmanned helicopter 100and houses flight control electronics 112 as well as a portion of thedrive train for main rotor assembly 140. Fuselage 110 may thus housesome or all of the flight critical components for unmanned helicopter100. Fuselage is formed of aluminum, for example, bended sheet metal.However, other material(s) and/or methods of forming the fuselage may beused.

Flight control electronics 112 is capable of receiving a task anddynamically determining a route for unmanned helicopter 100 to fly inorder to accomplish the task and autonomously flying along at least aportion of the route in order to perform the task. The determination ofthe route includes not only selecting the route based on the task butalso the geography for the route, the terrain along the route, andoptionally other factors such as additional tasks, weather conditions,available battery (e.g., where the battery stores local available powerfor flight and communications), and other internal and/or externalconsiderations. In some embodiments, artificial intelligence core 114performs these route selection and guidance tasks. Also included in theflight control electronics is a flight controller, a motor controllerfor rotor motor 146 and power supplies that regulate voltage from thebatteries (not shown in FIGS. 1A-1D). Flight control electronics 112also communicate with other portions of unmanned helicopter 100, such asmain rotor assembly 140, tail 130, and external communications module150.

External communications module 150 receives input from and providesoutput to systems external to unmanned helicopter 100. For example,external communications module 150 includes a mesh radio. Use of a meshradio allows for communications with clients such as cellulartelephones, laptops, and other computing devices utilizing Internetprotocols. Through communications module 150, unmanned helicopter 100Amay become part of a network of interconnected mesh devices. The networkmay include devices such as other drones, sensor stations, the user'scomputing device or other apparatus used to control unmanned helicopter100A, unmanned helicopter 100A and any other devices using the meshnetwork. Thus, unmanned helicopter 100A can exchange informationdirectly with a variety of other devices. Participation in the meshnetwork may facilitate a variety of autonomous operations performed byunmanned helicopter 100A. In some embodiments, a router or otheranalogous communication system is incorporated in lieu of or in additionto the mesh radio.

In some embodiments, a global positioning unit 152 is also present. Insome embodiments, global positioning unit 152 receives globalpositioning signals from an external source and thus is considered partof external communications module 150. In the example shown, flightcontrol electronics 112 are at the forward section of fuselage 110,while external communications module 150 is at the aft section offuselage 110. This allows for physical separation of the electricallynoisy components of the drive train from external communications module150. Thus, performance of external communications module 150 isimproved.

Tail 130 is coupled with fuselage 110. Tail 130 includes tail section132, tail rotor 134 and tail motor 136. Tail section 130 is stiff andmay, for example, be formed of a carbon fiber tube. Tail motor 136drives tail rotor 134. Although not explicitly shown in FIGS. 1A-1D,tail motor 136 is connected to flight electronics 112, which controlstail motor 136. Thus, the drive mechanism for tail 130 is electrical andindependent from the rest of the drive train. In some embodiments, tail130 is modular in nature and may be releasably connected to fuselage110.

Main rotor assembly 140 is coupled with fuselage 110 and to flightcontrol electronics 112. Main rotor assembly 140 includes main rotor142, coupled with shaft 144 and rotor motor 146. Main rotor 140 alsoincludes swash plate assembly 160 that includes swash servo links 162and belt drive 164 that is coupled with motor 146. Main rotor 142rotates around axis of rotation 148. Axis of rotation 148 is shown by adashed line extending through shaft 144. Rotor motor 146 is controlledby flight control electronics 112 and drives main rotor 142.

Payload rail 120 is connected with fuselage 110. For example, payloadrail 120 is bonded to fuselage 110. In the example shown, payload rail120 extends substantially along the entire length of fuselage 110. Insome embodiments, payload rail 120 extends only partially along fuselage110. Only one payload rail 120 is shown for unmanned helicopter 100. Insome embodiments, multiple payload rails 120 might be used. For example,two or more rails extend in parallel along the bottom of fuselage 110,replacing a single payload rail 120. In some embodiments, a first railextends only along the forward portion of fuselage 110, in proximity toflight control electronics 112, while another rail extends along the aftportion of fuselage 110. Payload rails are coupled to the sides offuselage 110 in lieu of or in addition to payload rail 120 coupled tothe bottom of fuselage 110. Other configurations are possible. Payloadrail(s) 120 is/are, however, configured to allow positioning of multiplepayloads connected to payload rail(s) 120 such that a center of gravityof the payloads is able to be aligned with axis of rotation 148 of mainrotor 142.

Payload rail 120 includes fixed portion 122 and movable clamps (e.g.,movable clamp 124) that slide along fixed portion 122. As can be seen inFIG. 1D, the cross-section of fixed portion 122 has a dovetail design inthe embodiment shown. Fixed portion 122 is formed of extruded aluminumand bonded to fuselage 110. However other materials, methods offormation and mechanisms for attachment to fuselage 110 may be used.Payload(s) may be connected to fixed portion 122 via clamps (e.g.,movable clamp 124). Although four clamps are shown, only one is labeledfor simplicity. The clamps mechanically couple the payload(s) to payloadrail 120. Electrical connection is made via connectors (not shown)and/or wiring (not shown) between components on unmanned helicopter 100and the payload(s). Because the clamps can slide along fixed portion122, the payloads may be balanced such that their center of gravity isaligned with/substantially directly below axis of rotation 148. In someembodiments, two smaller mass payloads may be coupled via one or moreclamps (e.g., clamp 124) in the aft region, while a single largerpayload may be clamped attached below the aft region of fuselage 110.The center of gravity of the three payloads (or any other number ofpayloads) can be adjusted to be below axis of rotation 148 by movingeach of the payloads along the rail, and then clamping the payloads inplace.

Payload rail 120 allows attachment of most of the non-flight criticalsystems that unmanned helicopter 100 uses. For example, in someembodiments the energy sources (e.g., batteries, generators, and/or fuelcells) are not present in fuselage 110. Instead, the energy sources arecarried as payload(s) mechanically connected via payload rail 120 andelectrically connected to components such as flight control electronics112 and motor 146 and motor 136. Other payloads connected to payloadrail 120 may include but are not limited to computer(s), sensors such asa laser altimeter, one or more camera modules, lidar module(s), radarmodule(s), a megaphone(s), thermal sensor module(s), global positioningmodule(s) and/or any other payload unmanned helicopter 100A is desiredto transport.

Unmanned helicopter 100 has improved performance and reliability. Asdescribed below, unmanned helicopter 100 is capable of autonomouslyperforming a variety of tasks, including determination of and guidancealong a route. Consequently, a human pilot may be unnecessary for atleast part of the operation of the drone. The materials used for thedrone allow the drone to be rugged and capable of carrying a largepayload. Unmanned helicopter 100 is also modular in nature. Because thebatteries are carried as a payload, batteries may be configured toprovide the desired energy profile for the selected tasks. For example,batteries may be selected for a higher speed and performance/shorterflight time or lower speed and performance/longer flight time. Thus,performance of unmanned helicopter 100 is tailored to the desiredmissions. Tail 130 might be disconnected from fuselage 110 in responseto there being a failure in the tail drive system. Tail 130 might thenbe replaced. Similarly, when discharged, the batteries (not shown inFIGS. 1A-1D) carried as payload may be swapped for new batteries. Thus,failure of one or more of the modular components of unmanned helicopter100 may be replaced. Thus, unmanned helicopter 100 may spend less timebeing serviced. Unmanned helicopter 100 may also be small in size. Insome embodiments, for example, the height of unmanned helicopter 100, h1in FIGS. 1B and 1D, is two hundred and twenty through two hundred andsixty millimeters; the height of fuselage 110, h2 in FIGS. 1B and 1D, isone hundred through two hundred millimeters; the length of unmannedhelicopter 100, l1 in FIG. 1B is ??? through ??? millimeters; the widthof fuselage 110, w1 in FIG. 1D, is fifty through eighty millimeters; andthe width of fixed portion 122 of rail 120, w2 in FIG. 1D, is thirtythrough fifty millimeters. Other dimensions are possible in otherembodiments. As can be seen in FIG. 1D, the profile of fuselage 110 andunmanned helicopter 100 is small in some embodiments. As a result,unmanned helicopter 100 may have improved aerodynamics and may be moredifficult to visually detect. Thus, the performance, reliability andutility of unmanned helicopter 100 may be improved.

FIGS. 2A-2B depict another exemplary embodiment of unmanned helicopter100A shown without and with payloads. For clarity, not all componentsmay be depicted or labeled and FIGS. 2A and 2B are not to scale.Unmanned helicopter 100A is analogous to unmanned helicopter 100depicted in FIGS. 1A-1D. Unmanned helicopter 100A includes fuselage 110housing flight electronics 112; payload rail 120 including fixed portion122 and one or more clamps (e.g., clamp 124); tail 130 including tailsection 132, tail rotor 134 and tail motor 136; main rotor assembly 140including main rotor 142, rotor shaft 144, main motor 146 with its axisof rotation 148; external communications module 150 and globalpositioning unit 152 that are analogous to those for unmanned helicopter100. Unmanned helicopter 100A also includes landing gear 170 and landinggear 172. Landing gear 170 is coupled to fuselage 110. Although only onelanding gear 170 is shown in the side view, typically landing gear 170reside on both sides of the fuselage. Landing gear 172 is coupled withtail 130.

Also shown in FIG. 2B are payload 182, payload 184, payload 185, payload186, payload 188 and payload 189. In some embodiments, payload 185 is anantennae connected to tail 130. In some embodiments, payload 185 isaffixed to tail section 132, while in others payload 185 is releasablymounted to tail section 132. In some embodiments, an antennae mounted inpayload 185 is used by external communications module 150. For example,the antennae comprises a mesh radio antennae and/or any otherappropriate antennae.

Payload 182, payload 184, payload 185, payload 186, payload 188 andpayload 189 are releasably mounted to fuselage 110. In some embodiments,payload 182, payload 184, payload 185, payload 186, payload 188 andpayload 189 are coupled to payload rail 120. In some embodiments,unmanned helicopter 100A includes a front mount for payload 182. In theexample shown, payload 182 includes one or more cameras. Payload 184 isa compute payload including at least one processor and memory. In someembodiments, the compute payload is coupled to one or more cameras viawiring passing through fuselage 110. In some embodiments, imageprocessing, image recognition and other tasks related to data capturedby the one or more cameras performed by the compute payload. Data fromthe one or more cameras is used in autonomously guiding unmannedhelicopter 100A.

In some embodiments, payload 186 and payload 188 are batteries thatprovide energy to unmanned helicopter 100A. The power provided by thebatteries to motor 146 and motor 136 and other components is controlledby flight electronics 112. The energy profile of the batteries can beselected such that the desired performance of unmanned helicopter 100Ais achieved. In the example shown, power is only provided via thebatteries carried as payload. In some embodiments, a battery carried inthe fuselage provides some power for unmanned helicopter 100A— forexample, such a battery carries emergency power sufficient forcommunications. In addition, one or both of the electrical batteries maybe replaced by another power source, such as a gas powered energysource. Such a power source may provide a different energy profile tounmanned helicopter 100A. Also shown is payload 189 that may include oneor more sensors. For example, payload 189 may be a laser altimeter.Signals from the laser altimeter may be provided to flight electronics112 via wiring (not shown) or in another manner.

Because at least some of payload 182, payload 184, payload 185, payload186, payload 188 and payload 189 are coupled via payload rail 120,payload 182, payload 184, payload 185, payload 186, payload 188 andpayload 189 are positioned such that their center of gravity issubstantially aligned with axis of rotation 148. As used herein,“aligned” with axis of rotation 148 may include not only intersectingaxis associated with axis of rotation 148, but also in a small regionsurrounding axis of rotation 148. Note that even though payload 182 isnot connected to fuselage 110 via payload rail 120, the remainingpayloads (e.g., payload 184, payload 186, payload 188, and payload 189)are movable along rail 120 and may be positioned such that the center ofgravity of all payloads (e.g., payload 182, payload 184, payload 186,payload 188, and payload 189) is aligned with axis of rotation 148.Although specific payloads (e.g., payload 182, payload 184, payload 186,payload 188, and payload 189) having a particular configuration areshown in FIG. 2B, other and/or additional payloads having a differentconfiguration may be present. However, use of payload rail 120 may stillallow the center of gravity of the payloads to be aligned with the axisof rotation 148.

Unmanned helicopter 100A has improved performance, flexibility andreliability. Unmanned helicopter 100A utilizes additional tools providedvia the payload 182, payload 184, payload 186, payload 188, and payload189 mounted on payload rail 120 to autonomously perform tasks. The typesand numbers of missions performed by unmanned helicopter 100A may beextended by changing the payload 182, payload 184, payload 186, payload188, and/or payload 189. Configuration of battery payloads also allowstailoring of the performance of unmanned helicopter 100A to a desiredmission. For example, speed may be increased at the expense of flighttime or vice versa. The modular nature of the payload 182, payload 184,payload 186, payload 188, and payload 189 of unmanned helicopter 100Agenerally may improve the reliability of unmanned helicopter 100Abecause faulty components may be more readily replaced. As indicatedabove, unmanned helicopter 100A also has a small profile improvingaerodynamics and reducing visibility. Thus, the performance,reliability, and utility of unmanned helicopter 100A are improved.

FIGS. 3A-3B are diagrams depicting various perspective and side views ofan exemplary embodiment of an enclosed swash assembly 160A usable in anunmanned helicopter such as unmanned helicopter 100 and/or unmannedhelicopter 100A. For clarity, not all components may be depicted orlabeled and FIGS. 3A and 3B are not to scale. Also shown in FIGS. 3A-3Bare rotor motor 146 and a portion of rotor 142. Enclosed swash assembly160A includes, among other components, swash servo links 162 and beltdrive 164 (sometimes knows as belt drive assembly). In the exampleshown, swash assembly 160A also includes rotating enclosure 166 andfixed enclosure 168. As its name implies, rotating enclosure 166encloses portions of enclosed swash assembly 160A and spins around axisof rotation 148. Stated differently, rotating enclosure rotates withrespect to fuselage 110. Fixed enclosure 168 remains in an unchangingposition with respect to the fuselage 110 (not shown in FIGS. 3A-3B).

Enclosed swash assembly 160A improves reliability and use of unmannedhelicopter 100A. In general, the components of enclosed swash assembly160A are complex and tend to attract debris. Particularly in harshenvironments, components of a helicopter swash assembly are more likelyto fail and/or require servicing. Enclosures (e.g., rotating enclosure166 and fixed enclosure 168) protect the components of enclosed swashassembly 160A from contaminants. Stated differently, enclosed swashassembly 160A protects against ingress of water, dust, or other foreignobjects that could damage the mechanisms of the swashplate. Thus, thecomplicated mechanical components in unmanned helicopter are lessexposed to the environment, less likely to fail and/or require lessmaintenance. Thus, performance of the unmanned helicopter employingenclosed swash assembly 160A is improved.

FIGS. 4A-4D are diagrams depicting exemplary embodiments of a modulartail coupling for an unmanned helicopter. In some embodiments, a modulartail coupling is used to implement a modular tail coupling for unmannedhelicopter 100 and/or 100A. For clarity, not all components may bedepicted or labeled and FIGS. 4A-4D are not to scale. In the exampleshown in FIGS. 4A and 4B, male coupling 190A and female coupling 190Bfit together to form modular coupling (e.g., modular coupling 190 ofFIGS. 4C and 4D). FIGS. 4C and 4D depict modular coupling 190 in usetail 130A. Tail 130A is used in lieu of tail 130 in unmanned helicopter100 and/or unmanned helicopter 100A. Male coupling 190A includesalignment features 192A, power connection 194A, data connection 196A,and latches 198A. Female coupling 190B includes alignment features 192B,power connection 194B, data connection 196B, and latches 198B. Alignmentfeatures 192A are configured to align and mate with alignment features192B. Similarly, power connection 194A and power connection 194B as wellas data connection 196A and data connection 196B mate to provide dataand power to tail 130. Thus, tail motor 136A and tail rotor 134A may becontrolled. Latches 198A and latches 198B cooperate to hold tail section132A and tail section 132B together. Although modular tail coupling 190is shown near the middle of tail 130A, in some embodiments, modular tailcoupling 190 may be located closer to or at the fuselage (not shown inFIGS. 4A-4D) or closer to tail rotor 134A. Thus, using modular tailcoupling 190, some or all of tail 130A may be removably coupled tofuselage 110.

FIG. 5 depicts an exemplary embodiment of unmanned helicopter 100Bemploying an embodiment of modular tail coupling 190. For clarity, notall components may be depicted or labeled and FIG. 5 is not to scale.Unmanned helicopter 100B is analogous to unmanned helicopter 100 andunmanned helicopter 100A depicted in FIGS. 1A-1D and 2A-2B. Unmannedhelicopter 100B includes fuselage 110B housing flight electronics; apayload rail (not explicitly shown); tail 130A; main rotor assembly 140including main rotor 142 having axis of rotation 48, main motor 146 andan external communications module that are analogous to those forunmanned helicopter 100 and unmanned helicopter 100A. Unmannedhelicopter 100B also includes landing gear 170B and landing gear 172B,which are configured differently than landing gear 170 and landing gear172, respectively. Landing gear 170B is still coupled to fuselage 110.Although only one landing gear 170B is shown in the side view, typicallylanding gear 170B resides on both sides of the fuselage. Landing gear172B is coupled with tail 130A. Also connected to tail 130A are antennae985 and antennae 986, which may be mesh radio antennae. As can be seenin FIG. 5, modular coupling 190 allows for tail section 132A to bedecoupled from tail section 132B and replaced. In addition to or in lieuof modular coupling 190, tail 130A might include a lockable hinge. Sucha hinge would allow tail 130A to be folded in—for example duringshipping. In some embodiments, the hinge includes a mechanism forcontrolling the motion of electrical wires passing through tail 130A asthe hinge actuates. Such a mechanism may remove the requirement for aninterconnect at the hinge and prevent damage to electrical wires duringactuation of the hinge. When unmanned helicopter 100B is deployed, tail130A may be extended and the hinge locked in place.

Coupling 190 and removable tail 130A may improve performance andreliability of an unmanned helicopter. Tail 130A is modular in nature.Thus, in response to faults being detected in section 132A of tail 130A,this portion may be removed from the unmanned helicopter. For example,in response to motor 136A or tail rotor 134A being damaged, they may beeasily removed from the unmanned helicopter and replaced with a newsection. Similarly, in response to performance of tail rotor 134A beingdesired to be upgraded or changed, coupling 190 allows replacement ofthis portion of tail 130A. Consequently, the components of tail 130A maybe tailored to the mission. In addition, tail section 132A may beremoved for more compact shipping. Thus, performance of the unmannedhelicopter employing removable tail 130A is improved.

FIGS. 6A-6B depict an exemplary embodiment of a portion of an unmannedhelicopter 100C having retractable landing gear 170C. For clarity, notall components may be depicted or labeled and FIGS. 6A-6B are not toscale. FIG. 6A depicts a portion of unmanned helicopter 100C showinglanding gear 170C deployed, while FIG. 6B depicts unmanned helicopter100C with landing gear 170C retracted. Unmanned helicopter 100C isanalogous to unmanned helicopter 100, unmanned helicopter 100A, andunmanned helicopter 100B depicted in FIGS. 1A-1D, 2A-2B and 5. Unmannedhelicopter 100C includes fuselage 110C housing flight electronics;payload rail 120; a tail (not explicitly shown); a main rotor assembly(not shown) that are analogous to those for unmanned helicopter 100,unmanned helicopter 100A, and/or unmanned helicopter 100B. Othercomponents may be included in unmanned helicopter 100C but are not shownfor clarity. Unmanned helicopter 100C also includes landing gear 170C.Landing gear 170C is still coupled to fuselage 110C. However, in anotherembodiment, landing gear 170C might be coupled to the tail (not shown)or another portion of unmanned helicopter 100C.

Landing gear 170C includes first section 174 and second section 176connected via hinge 178. Also shown are landing gear motor 178 that iselectrically connected to section 176. First section 174 is fixed. Insome embodiments, first section 174 is bolted to fuselage 110C or othercomponent. Second component 176 may be deployed to contact the ground orother external surface when unmanned helicopter 100C lands. Inoperation, motor 178 deploys and retracts second component 176. Thus,motor 178 and associated mechanical components (not shown), rotatesecond component 176 around hinge 175 to extend component 176 away fromfuselage 110C when unmanned helicopter 100C is to land. This situationis shown in FIG. 6A. When unmanned helicopter 100C is flying, motor 178may rotate section 176 around hinge 175 to retract. In some embodiments,section 176 is substantially flush against fuselage 1110A when landinggear 170C is not deployed. Motor 178 may be controlled by flight controlelectronics (not shown in FIGS. 6A-6B), a compute payload and/or othercontrol mechanism. Thus, landing gear 170C may be automatically deployedor retracted depending upon the current task(s) being executed.

Use of retractable landing gear 170C may improve performance of unmannedhelicopter 100C. Because landing gear 170C may be deployed, unmannedhelicopter 100C may be better able to land without damage. Becauselanding gear 170C is retractable, landing gear 170C may not obscure apayload coupled to payload rail 120. For example, a very large cameramay be desired to be connected to the middle of payload rail 120, at ornear axis of rotation. When deployed, landing gear 170C may obscure aportion of the field of view of the camera. Consequently, retractinglanding gear 170C allows the camera to have a larger field of view andbetter perform the desired functions. In addition, retracting landinggear 170C may improve the aerodynamics of the abandoned helicopter.Thus, operation and reliability of unmanned helicopter 100C employingretractable landing gear 170C is improved.

FIG. 7 depicts an exemplary embodiment of method 200 for loading anunmanned helicopter. In various embodiments, method 200 is used forloading unmanned helicopter 100, unmanned helicopter 100A, unmannedhelicopter 100B, and/or unmanned helicopter 100C. For simplicity, method200 is described in the context of unmanned helicopter 100A depicted inFIGS. 2A-2B.

Unmanned helicopter 100A is suspended, in 202. The suspension point isdesired to be along the axis of rotation 148. For example, unmannedhelicopter 100A might be suspended from the center of the rotor 142.

The payload 182, payload 184, payload 186, and payload 188 desired to becarried are coupled to payload rail 120, via 204. 204 may includeattaching clamps (e.g., clamp 124) to the payload 182, payload 184,payload 186, and/or payload 188. The clamps are also coupled with fixedrail 122 but are free to slide along fixed rail 122. Also in 204, thepayloads are positioned along payload rail 120 such that the center ofgravity of the plurality of payloads (e.g., payload 182, payload 184,payload 186, and payload 188) is aligned with axis of rotation 148 ofmain rotor 142. Because unmanned helicopter 100A is suspended in 202,this corresponds to unmanned helicopter 100A being substantially upright(axis of rotation 148 being substantially vertical). Thus, unmannedhelicopter 100A is not significantly tilted forward, backward or toeither side.

The payloads (e.g., payload 182, payload 184, payload 186, and payload188) are clamped into place at 206. Thus, the positions of the payloads(e.g., payload 182, payload 184, payload 186, and payload 188) arefixed.

Using method 200, multiple payloads may be attached to the unmannedhelicopter and balanced simply and easily. As a result, unmannedhelicopter 100A is capable of carrying multiple payloads havingdifferent weights.

As mentioned above, unmanned helicopter 100, unmanned helicopter 100A,unmanned helicopter 100B, and unmanned helicopter 100C are alsoautonomous. FIG. 8 is a block diagram depicting an exemplary embodimentof control system 300 for an unmanned helicopter such as unmannedhelicopter 100, unmanned helicopter 100A, unmanned helicopter 100B,and/or unmanned helicopter 100C that facilitates autonomous functions.For simplicity, control system 300 is also described in the context ofunmanned helicopter 100A. Control system 300 includes processor(s) 302,memory 308 and may include sensors/inputs 304, external communicationmodule 306, and imaging system 310. Some of the components of controlsystem 300 reside in a fuselage. Other components may be carried aspayloads or otherwise connected to the fuselage. For example, some orall of processor(s) 302 and memory 308 may reside in an artificialintelligence core. Alternatively, some or all of processor(s) 302 andmemory 308 may be in the computer payload. External communication 306may include the mesh radio in an external communications module, aglobal positioning unit, and/or other mechanism for sending or receivingdata and commands. Sensors/Inputs 304 may be affixed to a fuselage orcarried as payload. For example, a laser altimeter may be a payload asshown in unmanned helicopter 100A or may be directly connected to thefuselage. Other types of inputs such as for audio data, other visualdata, wind data, other weather data, radar data and/orthermal/temperature data may come from sensors/inputs 304, otherpayloads and/or from other sensor stations not attached to unmannedhelicopter 100A. Imaging system 310 may include the cameras mounted as apayload and/or other visual sensor(s).

Using system 300, an unmanned helicopter may autonomously perform avariety of tasks, obviating the need for a pilot or fine control overoperation of the unmanned helicopter. In some embodiments, the unmannedhelicopter may not include any mechanism for remote piloting. Instead,the unmanned helicopter is controlled on a task basis.

For example, FIG. 9 is a flow chart depicting an exemplary embodiment ofmethod 400 for autonomously performing tasks using an exemplaryembodiment of an unmanned helicopter. Method 400 is described in thecontext of system 300 and unmanned helicopter 100A. However, in anotherembodiment, other control systems and unmanned helicopters might beused.

Processor(s) 302 for unmanned helicopter 100A receive a task, via 402.The task may be received prior to unmanned helicopter 100A beingdeployed (e.g. when unmanned helicopter 100A is still at its startlocation). The task may also be received while unmanned helicopter 100Ais in flight on a mission. Further, multiple tasks may be received andexecuted by processor(s) 302 and unmanned helicopter 100A. Examples oftasks that may be received include but are not limited to searching aregion for an object, following an object, avoiding an area, flying to aparticular location, flying home, landing in a safe area, capturingimage(s) of a particular location, detecting and accounting for faults,remaining acoustically undetectable (e.g., flying at a distance farenough away from a specified location so that the unmanned helicopter isnot audibly detectable from a person/animal located at the specifiedlocation), patrolling an area, automatically handing off to anotherdrone, remaining visually undetectable based on the position of the sun(e.g., flying such that the unmanned helicopter is not visiblydetectable from a person/animal located at a specified location bypositioning itself between the specified location and the position ofthe sun in the sky to the person/animal located at the specifiedlocation), mapping the terrain over a region, finding a location atwhich the unmanned helicopter can land to continue surveillance from astandstill, aiming a camera for landing, re-centering images on auser-selected region, employing optical camouflage, or some otherappropriate combination of one or more of the above tasks and/or othermissions. As indicated by the items in the nonexhaustive list above.Some of the tasks are naturally combined, such as following an objectwhile remaining acoustically and visually undetectable. However, nothingprevents other combinations. In response to tasks that are mutuallyexclusive being received, an error message may be provided and a userprompted to select/remove one or more of the tasks. The tasks receivedin 402 may be provided by a user, for example by selecting task(s) froma menu, defining region(s) to search or avoid, or otherwisecommunicating with the control system in a task-based fashion. Stateddifferently, the tasks received in 402 are not provided by a userremote-piloting unmanned helicopter 100A. In addition, the command(s)received in 404 may simply be provided using a smart phone, portablecomputer or other IP-enabled device.

A route for unmanned helicopter 100A to traverse for the task isdetermined at 404. The determination of the route in step 404 takes intoaccount the task(s) received in 402, geography for the possible routes,and terrain along the possible route. For example, in response to thetask received in 402 being to search for an object that can move, suchas a person or vehicle, the route determined in 404 may be differentthan a search for a static object or a task to map the terrain over aregion. The routes selected may also avoid obstacles, such as tallbuilding. Other factors may also be taken into account in determiningthe route. For example, weather conditions such as the wind speed anddirection may also be incorporated in selecting the route. In such acase, the route selected may be such that the expected headwinds areminimized and the expected tail winds maximized. The amount of batterypower available, time taken to complete the task or other factors mayalso be accounted for. These conditions may be obtained from sensors 304on unmanned helicopter 100A, such as wind or other sensors, additionalassets having sensors in the region, global positioning data and/orother data from internal or external sources. These and other data maybe received from other assets in the mesh network to which unmannedhelicopter 100A is connected via external communications module/meshradio 150.

A number of possible routes may be determined at 404 based on thefactors above. Each of the factors may be accorded a weight based onpredetermined goals. A cost function and a target goal may be provided.The expected cost of each route may be determined and the minimum costroute may be selected as the optimal route. In other embodiments, othermechanisms may be used to select the route.

The task is then autonomously performed by unmanned helicopter 100A,including flying along at least a portion of the route, via 406. Usingsensors/inputs 304, processor(s) 302, and imaging system 310 as needed,the flight control electronics autonomously traverse the route andperform the task desired.

Using method 400 and control system 300, unmanned helicopter 100A canautonomously perform various tasks including route selection and flightalong the route. Consequently, method 400 may obviate the need for apilot for at least some portion of the missions flown by an unmannedhelicopter. Thus, the skill required to pilot the unmanned helicopterand substantially constant communication between the pilot and theunmanned helicopter may be unnecessary. Further, a single user may beable to monitor and control multiple unmanned helicopters. Consequently,flexibility and ease of use of the unmanned helicopter implementingmethod 400 is improved.

FIGS. 10A-10B depict a flow chart of an exemplary embodiment of method420 for autonomously searching an area using an exemplary embodiment ofan unmanned helicopter. Method 420 may be viewed as a particularimplementation of method 400 for a specific task. For simplicity, method420 is described in the context of control system 300 and unmannedhelicopter 100A. However, method 420 may be used with other controlsystems and other autonomous unmanned helicopters.

A command to search a particular area is received, via 422. The area maybe defined by a user clicking on a map to select a polygon of apredetermined shape, such as a rectangle or circle. Alternatively, theuser may be allowed to define the desired shape. In some embodiments,the object for which unmanned helicopter 100A is searching is alsodefined. For example, the search may be for a person, a vehicle, aparticular geographic feature, a structure or other object.Alternatively, the search may simply be considered a request to searchor map a region. In such cases, images or the terrain may simply beprovided as the output.

In some embodiments, the desired standoff distance and angle for theobject being searched are determined by processor(s) 302, in 424. Inresponse to, for example, the object searched for being a structure orvehicle, the distance the helicopter may search from may be further awayand the angle closer to ninety degrees (vertical from the object). Incontrast, in response to the object searched for being a person oranimal, the standoff distance may be smaller and the angle closer tozero degrees (horizontal from the object). Information related to thegeographic area is also received, in 426. For example, the winddirection and speed may be measured or received from other assets. Theterrain may be determined based upon known maps of the area and/or alaser altimeter.

The desired route may be determined in 428. The route selected may bebased upon external conditions such as wind and terrain as well as theobject for which the search is conducted. Possible routes having similarshapes may be analyzed and the route that is optimized for the desiredconsiderations such as the object, terrain, wind direction and time tocomplete a search of the entire selected region may be selected.Optimized routes of different shapes may also be compared to determinethe route selected in 428. For example, FIGS. 11A-11D depict variousroute 456A, route 456B, route 456C, and route 456D that might beselected for a single polygon 452 provided at 402. Although specificroutes are shown, these are for explanatory purposes. Routes havingother shapes may be used in other embodiments. Route 456A and route 456Care lawnmower patterns that may be used to perform a search. Thedirection of the route 456A and route 456C have been optimized at leastin part based on the directions of prevailing wind 454 and prevailingwind 454C, respectively. Route 456A and route 456C may be used to reducethe amount of time unmanned helicopter 100A flies into a headwind. Route456B and route 456D are different spiral routes that may be selected forthe same prevailing wind. Route 456B starts at a central region ofpolygon 452 and terminates near the perimeter. Route 456D starts at theperimeter of the polygon and terminates near the center. Route 456A,route 456B, route 456C, and route 456D selected may also be determinedbased on the object. For example, route 456A and route 456C might bepreferred when searching for a static object. Route 456B and route 456Dmight be preferred when searching for a moving object. However, otherconsiderations may be used in route selection. Further, although thedistances between sections of route 456A, route 456B, route 456C, androute 456D are shown as generally equal, nothing prevents the routesfrom being weighted toward regions of the polygon. Similarly, althoughroute 456A, route 456B, route 456C, and route 456D are depicting asterminating near the edges or center of polygon 452, in an alternateembodiment, the routes may start or end in other regions.

After route selection, unmanned helicopter 100A is controlled toautonomously fly the selected route while capturing images, via 430. Inresponse to the search being merely conducted to map the region, thenmethod 420 may terminate after 430 is completed and mapping data havebeen returned. In response to, however, specific object(s) beingsearched for, then as unmanned helicopter 100A traverses the route, theimages captured in 430 may be analyzed to find the object, via 432. 432may be performed by a compute payload and/or an artificial intelligencecore. In some embodiments, image analysis is performed remotely and theresults returned to unmanned helicopter 100A.

It is determined whether the desired object is recognized, via 434. Inresponse to not being recognized, unmanned helicopter 100A continues itssearch in 432. In response to, however, the object being recognized orfound, then notification may be provided via external communicationsmodule 150, in 436. Other responses to finding the object might also beperformed in 436. In some embodiments, method 420 may terminate orunmanned helicopter 100A may search for other like objects after 436 isperformed. In some embodiments, unmanned helicopter 100A is desired totrack the object. Consequently, image analysis continues to determinewhether the object has moved. In response to the object not moving,unmanned helicopter 100A may remain in place. In response to the objecthaving moved, then the next location of the object is dynamicallypredicted, via 440. 440 may include analyzing previous images todetermine the object's speed and direction. 440 thus estimates thelocation of the object in real time based upon inputs to control system300.

Based on the predicted location, the route is dynamically updated bycontrol system 300, in 442. The updates to the route ensure that theobject is kept in the field of view of cameras or other sensors beingused to track the object. Unmanned helicopter 100 then traverses thenew, updated route in 444. This process continues as long as the objectremains in sight. In response to being determined that the object hasbeen lost from the field of view in 446, then the search may berestarted, via 448. For example, the route may be restarted from thecurrent location. Stated differently, unmanned helicopter 100A mayresume the lawnmower or spiral route from the current location. Otherroutes may also be selected. In addition, a notification that that theobject has been lost and the last known position of the object may beprovided to the user via external communications module 150.

Using method 420, unmanned helicopter 100A can easily be directed tosearch for objects. The search is then carried out autonomously, withoutrequiring remote piloting. Consequently, a relatively complex task maybe performed without requiring a highly skilled user. Flexibility,utility and ease of use of unmanned helicopter 100A are thus improved.

FIG. 12 is a flow chart depicting an exemplary embodiment of method 460for autonomously returning home using an exemplary embodiment of anunmanned helicopter. Method 460 may be viewed as a particularimplementation of method 400 for a specific task. For simplicity, method460 is described in the context of control system 300 and unmannedhelicopter 100A. However, method 460 may be used with other controlsystems and other autonomous unmanned helicopters.

Upon launch, unmanned helicopter 100A records the launch location, in462. This may include recording global positioning data for the launchlocation. This data may be supplemented by other data including but notlimited to terrain data for the launch location, a homing beacon thatmay be provided at the launch location or other indicators of the basefor unmanned helicopter 100A.

Unmanned helicopter 100A may then be launched to perform the desiredmission(s). At some time later, control system 300 receives anadditional task: immediate return to the launch location, in 464. Forexample, the user may select this task from a menu and ensure that thecommand is transmitted to unmanned helicopter 100A. The task is receivedby processor(s) 302 via external communications 150.

Processor(s) 302 determine the route from the current location to thelaunch location in 466. The current location may be determined based onglobal positioning data and/or other information available toprocessor(s) 302. In some embodiments, this includes determining theminimum safe altitude at which unmanned helicopter 100A may traverse theentire route home. In some embodiments, the route determined is theshortest route between the current location and the launch location. Insome embodiments, factors such as regions unmanned helicopter 100A hasbeen directed to avoid, large geographic features, prevailing winds,locations of unfriendly assets or other considerations may be taken intoaccount in determining the route. Unmanned helicopter 100A thenautonomously traverses the route in 468 and lands within a thresholddistance of the launch location at 470. As in methods 480 and 650,landing at 470 may include multiple steps as well as communication withthe user to confirm the safety and desirability of the landing location.

Using method 460, unmanned helicopter 100A can simply be directed toreturn home. In response unmanned helicopter 100A can return homewithout requiring a pilot. Thus, a single user may be capable ofrecalling multiple unmanned helicopters substantially simultaneously.Flexibility, utility and ease of use of unmanned helicopter 100A maythus be improved.

FIG. 13 is a flow chart depicting an exemplary embodiment of method 480for autonomously landing an exemplary embodiment of an unmannedhelicopter. Method 480 may be viewed as a particular implementation ofmethod 400 for a specific task. For simplicity, method 480 is describedin the context of control system 300 and unmanned helicopter 100A.However, method 480 may be used with other control systems and otherautonomous unmanned helicopters.

Control system 300 receives a task: land at a selected location, in 482.For example, the user may select this task from a menu, click on theselected location on a map and ensure that the command is transmitted tounmanned helicopter 100A. The task is received by processor(s) 302 viaexternal communications 150. The selected location may be a locationnear unmanned helicopter's 100A current location, may be at the homebase/launch location or another location.

Processor(s) 302 determine the route from the current location to theselected location in 484. The current location may be determined basedon global positioning data and/or other information available toprocessor(s) 302. The global positioning data may be converted tocoordinates on the map to match the current location with the selectedlocation. Similarly, the selected location may be determined byconverting the map coordinates selected to global positioningcoordinates transmitted with the command to land. In some embodiments,the route selection in 484 may include determining the minimum safealtitude at which unmanned helicopter 100A may traverse the entireroute. In some embodiments, the route determined is the shortest routebetween the current location and the selected location. In otherembodiments, factors may be taken into account in determining the route.Unmanned helicopter 100A then autonomously traverses the route in 486.

In response to unmanned helicopter 100A reaching the selected location,or being within a particular distance of the selected location, at leastone image is captured of the selected location, in 488. 488 may includeprocessor(s) 302 controlling a camera to point downward. In someembodiments, the image(s) provided in 488 are a video stream of thelocation. The image(s) are provided to the user. The user may thenselect a particular location in the images as the landing zone forunmanned helicopter 100A. This selection is received by processor(s)302, at 490. Unmanned helicopter 100A then autonomously lands on thelanding zone or as close to the landing zone as possible, at 492.

Using method 480, unmanned helicopter 100A can simply be directed toland at a specified location. In order to account for errors ingeoregistration, the landing zone is confirmed by the user via the livevideo/image stream at 488-490. Thus, unmanned helicopter 100A may berelatively easily directed to land substantially autonomously in aselected location.

FIG. 14 is a flow chart depicting an exemplary embodiment of method 500for autonomously avoiding selected area(s) while performing other tasksusing an exemplary embodiment of an unmanned helicopter. Method 500 maybe viewed as a particular implementation of method 400 for a specifictask. For simplicity, method 500 is described in the context of controlsystem 300 and unmanned helicopter 100A. However, method 500 may be usedwith other control systems and other autonomous unmanned helicopters.Further, the task described in method 500 is typically used inconjunction with other tasks, such as searching for or followingobjects.

Processor(s) 302 receive a command to avoid selected location(s), in502. For example, the user may select from predetermined areas or maydefine polygons which unmanned helicopter 100A is desired to avoid. Thiscommand may be received prior to or after launch. When calculating theroute(s) to perform a task, the processor(s) ensure that the routeexcludes the selected locations, via 504.

Using method 500, unmanned helicopter 100A can simply be directed toavoid particular regions. When subsequently determining routes toperform various tasks, unmanned helicopter 100A ensures that the routedoes not include these locations. Thus, a pilot need not be aware ofupdated locations to avoid and ensure that unmanned helicopter 100A ispiloted around these locations. Consequently, use of unmanned helicopter100A may be facilitated.

FIG. 15 is a flow chart depicting an exemplary embodiment of method 510for autonomously capturing images of an object using an exemplaryembodiment of an unmanned helicopter. Method 510 may be viewed as aparticular implementation of method 400 for a specific task. Forsimplicity, method 510 is described in the context of control system 300and unmanned helicopter 100A. However, method 510 may be used with othercontrol systems and other autonomous unmanned helicopters.

Processor(s) 302 receive a command to view a particular location, in512. For example, a user may select a location on a map and choose “viewlocation” from a menu. This command is transmitted and received bycommunications module 150 and provided to processor(s) 302.

In some embodiments, the location(s) of additional assets monitoring thelocation and regions to avoid are received, via 514. The location(s) ofadditional assets may allow the processor(s) to select the optimalvantage point for the location not already covered by other availableassets as well as to plot a route that does not intersect with theassets.

Ray tracing is performed from the selected location to possible vantagepoint(s) for the imaging system such as cameras, via 516. 516 utilizesterrain data as well as information regarding other visual obstructions.The ray tracing of 516 thus indicates a number and size of obstructionsbetween the possible vantage point(s) and the location. Theidentification or possible vantage point may also include determining adesired standoff distance and angle for the location. The desirabilityof unmanned helicopter 100A remaining undetected is also a considerationin determining the possible vantage points.

A vantage point having an optimal number and an optimal size ofobstructions given other limitations such as detectability of unmannedhelicopter 100A is selected, via 518. A route from the current locationto the vantage point is then determined, in 520. The route selected in520 may account for the locations desired to be avoided, locations ofother assets, weather conditions, time to traverse the route and otherfactors that may be specified. Unmanned helicopter 100A is thenautonomously controlled to fly this route to the vantage point andcapture images of the location from the vantage point in 524. Theimage(s) captured may be stills, a live video feed or other surveillancedata. In some embodiments, the images capture may use radar or otherradiation outside of the visible spectrum.

Using method 510, unmanned helicopter 100A can easily be directed toview a particular location. The surveillance is then carried outautonomously. Consequently, a relatively complex task may be performedwithout requiring a highly skilled user. Further, the user may directmultiple unmanned helicopters 100A to view the same location. Becauseunmanned helicopters 100A are aware of other assets in the area, theymay provide different imaging data. Flexibility, performance and ease ofuse of unmanned helicopter 100A may thus be improved.

FIG. 16 is a flow chart depicting an exemplary embodiment of method 530for autonomously following an object emitting a signal using anexemplary embodiment of an unmanned helicopter. Method 530 may be viewedas a particular implementation of method 400 for a specific task. Forsimplicity, method 530 is described in the context of control system 300and unmanned helicopter 100A. However, method 530 may be used with othercontrol systems and other autonomous unmanned helicopters. In theexample shown, method 530 commences after the command to track aparticular object emitting a signal is received by processor(s) 302.Method 530 may also be viewed as being repeated at intervals, orsubstantially continuously, during tracking of the object.

The location data is received from the object in 532. For example, theglobal positioning signal emitted from a particular phone may bereceived in 532. In other embodiments, other location data emitted bythe object may be received in lieu of or in addition to the globalpositioning data. Processor(s) 302 dynamically update the route in realtime such that unmanned helicopter 100A remains within a particulardistance of the signal in 534. For example, 534 may include estimatingthe next location of the object based upon the speed and directioncalculated using previous global positioning data. Unmanned helicopter100A may then be autonomously controlled by processor(s) 302 to fly theroute, via 536.

Using method 530, unmanned helicopter 100A can be directed to follow aparticular signal. Unmanned helicopter 100A may then autonomously followthe signal without requiring user intervention. Flexibility, performanceand ease of use of unmanned helicopter 100A may thus be improved.

FIG. 17 is a flow chart depicting an exemplary embodiment of method 540for autonomously remaining acoustically undetectable using an exemplaryembodiment of an unmanned helicopter. Method 540 may be viewed as aparticular implementation of method 400 for a specific task. Forsimplicity, method 540 is described in the context of control system 300and unmanned helicopter 100A. However, method 530 may be used with othercontrol systems and other autonomous unmanned helicopters.

Processor(s) 302 receive a command indicating at least one regionincluding human observers and that unmanned helicopter 100A is to remainacoustically undetectable to human observers in the region, via 542. Auser may a select a predefined region for 542, or may define the regionin another manner. For example, the user may define polygon on a map andindicate that unmanned helicopter 100A is to remain acousticallyundetectable to people in this region.

Acoustic data may be received in 544. For example, weather conditionssuch as wind speed in the defined regions, the acoustic profile ofunmanned helicopter 100A and other data relating to audio detection maybe received in 544. Processor(s) 302 determine an acoustic detectiondistance based upon the acoustic signature for unmanned helicopter 100Aand weather conditions such as wind direction and wind speed, in 546.Other factors such as the altitude of unmanned helicopter 100A may alsobe accounted for in determining the acoustic detection distance. Theacoustic detection distance is the distance away from the regionsunmanned helicopter 100A is desired to remain in order to avoiddetection. This distance may include horizontal (along the surface ofthe terrain) and vertical components.

A route is automatically determined, via 548. The route excludes an areaincluding the region(s) identified by the user and the acousticdetection distance around each region. Processor(s) 302/flight controlelectronics 112 control unmanned helicopter 100A to autonomously fly theroute, via 550.

Using method 540, unmanned helicopter 100A can traverse a route whileremaining acoustically undetectable. Thus, unmanned helicopter 100A mayperform surveillance without the subject's knowledge and withoutrequiring piloting. Consequently, performance of unmanned helicopter100A may be improved.

FIG. 18 is a flow chart depicting an exemplary embodiment of method 560for autonomously patrolling a route using an exemplary embodiment of anunmanned helicopter. Method 560 may be viewed as a particularimplementation of method 400 for a specific task. For simplicity, method560 is described in the context of control system 300 and unmannedhelicopter 100A. However, method 560 may be used with other controlsystems and other autonomous unmanned helicopters.

Processor(s) 302 receive a command indicating that unmanned helicopter100A is to patrol a particular route, via 562. The patrol may be desiredto be along a road or trail, around a perimeter or covering anotherregion. The user may select segments of the road or perimeter totraverse. For example, the user may define polygon on a map or a seriesof line segment corresponding to the road or perimeter. The endpoints ofthe perimeter or line segments/road may also be indicated. Thisinformation is transmitted to the external communications module 150.

Processor(s) 302 determine the route to traverse the path between of theplurality of endpoints or around the perimeter, via 564. The routeindicates that the direction is reversed at each of the plurality ofendpoints or that the route around the perimeter is restarted uponreaching the endpoint. Processor(s) 302/flight electronics 112 controlunmanned helicopter 100A to autonomously traverse the route, via 566. Inresponse to the route being a series of line segments having endpoints,then unmanned helicopter 100A changes direction upon reaching eachendpoint. In response to the route being a closed line such as aperimeter, then upon reaching the start/end point, the route isrestarted. Thus, the desired path is autonomously patrolled.

In response to an object of interest being detected then a signal isprovided via the external communications module 150, in 568. Additionalactions may also be specified and taken in 568. For example, uponintruder detection, the user may be notified via communications module150 and the intruder warned using a megaphone or other analogouspayload. Thus, the user is made aware of any intruders or other issuesalong the path being patrolled. In some embodiments, the battery levelmay also be monitored as part of method 560. In such an embodiment, theuser may be alerted upon battery 186 and battery 188 reaching a minimumenergy level to return home in 569. As part of this, processor(s) 302may redetermine the route to be from the current location to a homelocation. Consequently, unmanned helicopter 100A can return from patrol.In some embodiments, as discussed below, unmanned helicopter 100A mayalso hand off patrol duties to another, drone to provide continuousmonitoring.

Using method 560, unmanned helicopter 100A can autonomously patrol adesired region, alerting the user of any issues and return prior torunning out of battery. Consequently, humans need not patrol either inperson or by piloting a drone. Instead, unmanned helicopter 100A canperform these duties.

FIG. 19 is a flow chart depicting an exemplary embodiment of method 570for autonomously responding to faults using an exemplary embodiment ofan unmanned helicopter. Method 570 may be viewed as a particularimplementation of the method 400 for a specific task. For simplicity,Method 570 is described in the context of control system 300 andunmanned helicopter 100A. However, method 570 may be used with othercontrol systems and other autonomous unmanned helicopters. In someembodiments, the task performed by method 570, responding to systemfaults, is always implemented. Consequently, the task need not bereceived from the user to processor(s) 302. Alternatively, this task maybe required to be received from the user in order to be performed.

Control system 300 searches for faults in the components of unmannedhelicopter 100A, via 572. For example, faults in one or more of thebattery system (e.g. battery 186 and battery 188), power system thatregulates power from the battery 186 and battery 188, propulsion system(e.g. motor 136 and motor 146 and rotors 134 and rotor 142), flightcontrol system 112, and communications system 150 may be detected.

In response to such a fault being detected, it is determined whether thefault is mission critical, in 574. Mission critical faults may includeany fault that may prevent completion of the current mission(s). Suchfaults might include a catastrophic failure of the battery or flightcontrol system which would impact any activity performed by unmannedhelicopter 100A. Alternatively, the mission critical fault may bespecific to the mission(s) being carried out. For a search mission, suchfaults might include failures of the camera or other detectioncomponents.

In response to the fault detected being not mission critical, thenoperation continues. In some embodiments, a notification of the fault isprovided. If, however, the flight is mission critical, then an alert isprovided, in 576. For example, the alert might be send via the meshradio that is part of the external communications module 150.Consequently, an operator is notified that a significant fault hasoccurred. An additional drone might be called to replace unmannedhelicopter 100A, as discussed below for method 590.

The route between current location of unmanned helicopter 100A and thehome/launch location is automatically determined by processor(s) 302, in578. Unmanned helicopter 100A is then autonomously flown along the routeto return home, in 580.

Using the method 570 and control system 300 of unmanned helicopter 100A,unmanned helicopter 100A may be automatically checked for faults duringoperation and returned home in response to a mission critical faultsexisting or being detected. Consequently, reliability of unmannedhelicopter 100A is improved.

FIG. 20 is a flow chart depicting an exemplary embodiment of method 590for autonomously handing off duties to another drone using an exemplaryembodiment of an unmanned helicopter. Method 590 may be viewed as aparticular implementation of method 400 for a specific task. Forsimplicity, method 590 is described in the context of control system 300and unmanned helicopter 100A. However, method 590 may be used with othercontrol systems and other autonomous unmanned helicopters.

Processor(s) 302 receive a command indicating that unmanned helicopter100A is to autonomously hand off duties to other drone(s), via 592.Unmanned helicopter 100A may be the first helicopter to receive thecommand. In response to being the first helicopter to receive thecommand, the task may be provided by the user to the helicopter. Inresponse to unmanned helicopter 100A not being the first, then unmannedhelicopter 100A may receive the task from another helicopter. In such acase, unmanned helicopter 100A relieves another helicopter at the startof method 590.

Unmanned helicopter 100A performs the desired task(s). For example,unmanned helicopter 100A may patrol as discussed for method 560, followan object emitting a signal as in method 530, perform a search as inmethod 420 and/or perform other duties. During operation, the batterylevel(s) are checked, via 594. Thus, the stored charge in battery 186and/or battery 188 is monitored.

It is determined whether the battery level is at or below a particularthreshold, in 596. This threshold might be the minimum battery level toreturn to base or may be another level. In response to the battery beingabove the threshold, then monitoring continues in 594. In response tothe battery being below at or below the threshold, then an alert is sentto replacement drone(s), via 598. In 598, unmanned helicopter 100A maycommunicate with a central base, which then alerts an available drone.Alternatively, the alert may be provided directly from unmannedhelicopter 100A to replacement(s). For example, the replacement droneand unmanned helicopter 100A may be part of the same mesh network. Thereplacement(s) may be notified directly via the mesh network. Thereplacement obtained in 598 may be substantially the same as unmannedhelicopter 100A or may be a different drone.

Operation continues until the replacement arrives. The route home fromthe current location is determined by processor(s) 302 after thereplacement has been on site, in 600. In some embodiments, thereplacement follows unmanned helicopter 100A for a predetermined timebefore recalculation of the route in 600. Determination of the route in600 may include optimizing the battery power used. For example, theroute may use a minimum safe altitude and/or minimize flight time givenlimitations on speed.

Processor(s) 302/flight electronics 112 control unmanned helicopter 100Ato autonomously traverse the route, via 602. Thus, unmanned helicopter100A has successfully handed off its duties to another drone.

Using the method 590 and control system 300, duties may be automaticallyhanded off between drones. Thus, uninterrupted coverage or the functionsof unmanned helicopter 100A may be provided. Consequently, performanceof unmanned helicopter 100A implementing method 590 may be improved.

FIG. 21 is a flow chart depicting an exemplary embodiment of method 610for autonomously remaining obscured by the sun while surveilling anobject using an exemplary embodiment of an unmanned helicopter. Method610 may be viewed as a particular implementation of method 400 for aspecific task. For simplicity, method 610 is described in the context ofcontrol system 300 and unmanned helicopter 100A. However, method 610 maybe used with other control systems and other autonomous unmannedhelicopters.

Processor(s) 302 receive a command indicating that unmanned helicopter100A is to use the sun to remain visually undetectable, via 612. Theprocessor(s) 302 may receive this command while on another mission, suchas surveilling a location in method 510 and/or remaining acousticallyundetectable using method 540.

Global positioning data and/or analogous data for the current locationare received, via 614. The data received in 614 may indicate thegeographic location and time. The object(s) and/or regions from whichunmanned helicopter 100A is desired to be visually obscured may also beprovided. Based on the data provided in 614, the current time andlocation of the sun are determined in 616.

Ray tracing between the object and/or region from which unmannedhelicopter 100A is desired to be obscured is performed, via 618.Consequently, a region in which unmanned helicopter 100A can fly whilebeing concealed by the sun can be determined. The ability of the sun toobscure unmanned helicopter 100A depends upon the size of unmannedhelicopter 100A as well as its distance from the object/region ofinterest. Stated differently, the ability of unmanned helicopter 100A tobe concealed by the sun depends on the solid angle subtended by unmannedhelicopter 100A. The relatively small profile of unmanned helicopter100A, as shown in FIG. 1D, aids in maintaining a small solid angle.

The route is then determined in 620. The route includes a vantage pointhaving an altitude and direction from the object/region which allowunmanned helicopter 100A to be positioned on the line between the sunand the object/region. The route to the vantage point may be selected toreduce visibility of unmanned helicopter 100A during transit.Processor(s) 302/flight electronics 112 control unmanned helicopter 100Ato autonomously traverse the route to the vantage, via 622. Images ofthe object/area of interest may then be captured from the vantage pointin 624.

In some embodiments, the object may move during method 610. In suchembodiments, the sun's position, object's position, vantage point androute from a current location to the new vantage point may bedynamically updated in real time. In some cases. the object does notmove during method 610, but the sun may. In such cases, the sun'sposition, vantage point and route from the current vantage point to anew vantage point dynamically updated in real time. Thus, method 610 maybe used to keep unmanned helicopter 100A hidden in the sun throughoutmost or all of the mission.

Using method 610 and control system 300, unmanned helicopter 100A mayautonomously remain concealed while performing other tasks.Consequently, the method 610 may allow unmanned helicopter 100A tobetter accomplish missions such as surveillance, searches, or followingobject(s). Consequently, performance of unmanned helicopter 100Aimplementing method 610 may be improved.

FIG. 22 is a flow chart depicting an exemplary embodiment of method 630for performing part of a mission from a stationary location using anexemplary embodiment of an unmanned helicopter. Method 630 may be viewedas a particular implementation of method 400 for a specific task. Forsimplicity, method 630 is described in the context of control system 300and unmanned helicopter 100A. However, method 630 may be used with othercontrol systems and other autonomous unmanned helicopters.

Processor(s) 302 receive a command indicating that unmanned helicopter100A is to find a stationary location to continue surveillance, via 632.The processor(s) 302 may receive this command while on another mission.For example, unmanned helicopter 100A may be searching for and followingan object in method 420 or surveilling a location in method 510 whileremaining acoustically undetectable using method 540 and/or hiding inthe sun using method 610. The command may be received at 632 from anoperator via external communications module 150 or in response to aninternal indication that landing may be desirable. Landing may bedesirable, for example to conserve battery power in response to anobserved object remaining stationary for a particular amount of time ordue to a fault.

The processor(s) 302 determine whether unmanned helicopter 100A is tostay outside the current field of view of the object/region, at 634.This determination may be made based on mission parameters. For example,in response to unmanned helicopter 100A having already receiveddirection to hide in the sun, remain camouflaged, and/or remainacoustically undetectable, it may be determined at 634 that unmannedhelicopter 100A is to stay outside the field of view of theobject/location. The operator may also specify whether unmannedhelicopter 100A is to stay outside the field of view/hidden, for examplein the task received at 632.

In response to unmanned helicopter 100A needing not to stay outside thefield of view, any suitable location to land may be found, via 636. Inresponse to unmanned helicopter 100A staying outside the field ofview/hidden, suitable location(s) outside of the object's or location'sfield of view may be determined, at 638. For example, the location maybe relatively distant, vertically offset from the object or locationand/or partially obscured. In some embodiments, 636 and 638 includeproviding multiple possible landing sites to the operator and receivingfrom the operator a selection of the desired landing site.

The route to the landing site is then determined in 640. The route tothe landing site may be selected to reduce visibility of unmannedhelicopter 100A during transit. Processor(s) 302/flight electronics 112control unmanned helicopter 100A to autonomously traverse the route tothe vantage, via 642. Unmanned helicopter 100A lands within apredetermined distance of the selected landing site, via 644. At 644,the landing site may be updated, for example using the method 650, andunmanned helicopter 100A lands. The mission may then be continued whileunmanned helicopter 100A is stationary, at 646. For example, unmannedhelicopter may continue video or audio surveillance of a particulartarget.

Using method 650 and control system 300, unmanned helicopter 100A mayautonomously continue surveillance from a stationary location or simplyconserve power while an object being followed remains stationary. Thisallows unmanned helicopter 100A to conserve battery power so that themission may continue for a longer period of time. It may also allowunmanned helicopter 100A to stay on the mission even in response tobattery power being low or a non-mission critical fault being detected.Although not indicated in FIG. 22, in response to the object starting tomove, unmanned helicopter 100A may take off and continue following theobject or otherwise continue operating. Consequently, method 630 mayallow unmanned helicopter 100A to better complete missions such assurveillance, searches, or following object(s). Consequently,performance of unmanned helicopter 100A implementing method 630 may beimproved.

FIG. 23 is a flow chart depicting an exemplary embodiment of method 650for autonomously landing at a user-selected location using an exemplaryembodiment of an unmanned helicopter. Method 650 may be viewed as aparticular implementation of method 400 for a specific task. Forsimplicity, method 650 is described in the context of control system 300and unmanned helicopter 100A. However, method 650 may be used with othercontrol systems and other autonomous unmanned helicopters. Method 650starts when unmanned helicopter 100A is to land. For example, method 650may be used in connection with one or more of the methods 460, 480, 570,590 and/or 640.

One or more cameras carried on unmanned helicopter 100A are pointedtoward the ground, at 652. This operation may be performed in responseto unmanned helicopter 100A reaching a selected landing site, or beingwithin a particular distance of the selected landing site. The camera ismoved with respect to a portion of unmanned helicopter 100A, such asfuselage 110. For example, the camera may be connected to one or moremotorized gimbals that control the orientation of the camera withrespect to fuselage 110. Processor(s) 302 control the motors to aim thecamera at a region in which unmanned helicopter 100A is desired to land.Also at 652, image(s) are captured of the area around the landing site.In some embodiments, a wide angle view of the region under unmannedhelicopter 100A is captured so that the terrain of the region may beevaluated.

The image(s) are provided to the operator, via 654. In some embodiments,the image(s) provided in 654 are a video stream in real time. The imagesmay be sent using external communications module 150. The operator maythen select a particular location as the landing zone for unmannedhelicopter 100A. For example, the operator may select a particularlocation in the image(s) by moving a pointer to the location on adisplay and clicking. This selection is received by processor(s) 302, at656. The selection may be received at external communications module 105and provided to processor(s) 302. Unmanned helicopter 100A thenautonomously lands on the landing zone or as close to the landing zoneas possible, at 658.

Using method 650, unmanned helicopter 100A can land at a specified area.The landing site is confirmed by the operator via the images provided at654. Thus, unmanned helicopter 100A may be relatively easily directed toland substantially autonomously in a selected location.

FIG. 24 is a flow chart depicting an exemplary embodiment of method 660for autonomously centering a region of interest for an image using anexemplary embodiment of an unmanned helicopter. Method 660 may be viewedas a particular implementation of method 400 for a specific task. Forsimplicity, method 660 is described in the context of control system 300and unmanned helicopter 100A. However, method 660 may be used with othercontrol systems and other autonomous unmanned helicopters. Method 660 istypically performed while unmanned helicopter 100A is on a mission, forexample, searching for an object in method 420 or following an object inmethod 530.

Images are provided to the operator, at 662. For example, images may besent via external communications module 150 to an operator's computingdevice, which renders the images on a display. Images provided in 662may be a video feed. However, nothing prevents still images from beingprovided to the user.

Processor(s) 302 receive a command indicating that a particular portionof the image is of interest, in 664. The command may be received at 664through external communications module 150. An operator may initiate thecommand by moving a pointer to a particular location on the images shownon their computing device's display and clicking. The indication of thislocation is provided to unmanned helicopter 100A.

Unmanned helicopter 100A is autonomously controlled such that thelocation selected by the use is substantially centered on the display,via 666. This may include control of both the camera(s) capturing imagesand flight of unmanned helicopter 100A. The camera, such as carriedusing payload 182, may be moved to point such that the location selectedis substantially at the center of the field of view of the camera. At666 processor(s) 302 may also control the flight of unmanned helicopter100A to stabilize the camera and/or otherwise aid in ensuring that thelocation selected by the operator is substantially centered in the fieldof view of the images provided to the operator.

Using method 660, the field of view provided by unmanned helicopter 100Acan be easily controlled by a user. Performance and utility of unmannedhelicopter 100A may thus be improved.

FIG. 25 is a flow chart depicting an exemplary embodiment of method 670for autonomously employing optical camouflage using an exemplaryembodiment of an unmanned helicopter. Method 670 may be viewed as aparticular implementation of method 400 for a specific task. Forsimplicity, method 670 is described in the context of control system 300and unmanned helicopter 100A. However, method 670 may be used with othercontrol systems and other autonomous unmanned helicopters.

Processor(s) 302 receive a command indicating that unmanned helicopter100A is to use optical camouflage, via 672. The processor(s) 302 mayreceive this command while on another mission, such as searching for andfollowing an object in method 420, surveilling a location in method 510,following an object in method 530, patrolling in method 560 and/orremaining acoustically undetectable using method 540. Alternatively, thetask may be received prior to launch. In either case, the task receivedin step 672 may be part of another mission. In some embodiments, thetask received may simply be to remain visually undetectable. In such anembodiment, unmanned helicopter 100A may execute method 670, as well asother desired methods such as the methods 540 and 610.

Ray tracing or other mechanism for determining line of sight from theobject, through unmanned helicopter 100A to a background is performed,at 674. The background is what the object would see in response tounmanned helicopter 100A not being present. It is determined at 674 whatthe background is, as well as which portion of unmanned helicopter 100Ais visible to the object in place of the background.

Images of the background are captured, in 676. The images captured aresubstantially real-time video. The images of the background aredisplayed, substantially in real time, on the region of unmannedhelicopter 100A that is visible to the object instead of the background.

Using method 670 and control system 300, unmanned helicopter 100A mayautonomously remain concealed while performing other tasks.Consequently, the method 660 may allow unmanned helicopter 100A tobetter accomplish missions such as surveillance, searches, or followingobject(s). Performance of unmanned helicopter 100A implementing method660 may be improved.

Thus various tasks performed by and components used in unmannedhelicopter 100, unmanned helicopter 100A, unmanned helicopter 100B, andunmanned helicopter unmanned helicopter 100C have been described. One ofordinary skill in the art will readily recognize that the componentsand/or methods may be combined in manners not explicitly describedherein.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. An unmanned helicopter platform comprising: afuselage housing flight control electronics; a tail coupled with thefuselage, the tail including a tail rotor and a tail rotor motor; a mainrotor assembly coupled with the fuselage and the flight controlelectronics, the main rotor assembly including a main rotor having anaxis of rotation and a main rotor motor; and a payload rail coupled withand extending along the fuselage, the payload rail allowing mechanicalconnection of a plurality of payloads to the fuselage, the payload railallowing positioning of the plurality of payloads connected to thepayload rail such that a center of gravity of the plurality of payloadsis able to be aligned with the axis of rotation of the main rotor. 2.The unmanned helicopter platform of claim 1, wherein the main rotorassembly further includes: an enclosed swash assembly including arotating portion and a fixed portion, the rotating portion enclosing acentral portion of the main rotor and rotatable with respect to thefuselage, the fixed portion coupled with the fuselage.
 3. The unmannedhelicopter platform of claim 2, wherein the payload rail extends from aforward section of the fuselage to an aft section of the fuselage. 4.The unmanned helicopter platform of claim 1, wherein the tail isremovably coupled to the fuselage, wherein the fuselage includes afuselage coupling section and the tail includes a tail coupling sectionconfigured to mate with the fuselage coupling section, the tail couplingsection and the fuselage coupling section providing a mechanicalconnection, a data connection and a power connection between thefuselage and the tail.
 5. The unmanned helicopter platform of claim 1,wherein at least one of the payloads is a battery payload for providingpower to the main rotor motor.
 6. The unmanned helicopter platform ofclaim 1, wherein at least one of the payloads is a compute payload. 7.The unmanned helicopter platform of claim 1, wherein the pluralitypayloads includes at least one of a laser altimeter module, a cameramodule, a lidar module, a radar module, a megaphone, a thermal sensormodule, and/or a global positioning module.
 8. The unmanned helicopterplatform of claim 1, further comprising: a communication assemblyconnected to the fuselage, wherein the communication assembly is foraccepting a first plurality signals from an external source and forproviding a second plurality of signals from the unmanned helicopterplatform to an external receiver.
 9. The unmanned helicopter platform ofclaim 8, wherein the communication assembly includes a mesh radio. 10.The unmanned helicopter platform of claim 1, further comprising: atleast one landing gear coupled with the fuselage.
 11. The unmannedhelicopter platform of claim 10, wherein the at least one landing gearfurther includes: a first section connected to the fuselage, a secondsection, and a hinge between the first section and the second section;and a landing gear motor for automatically rotating the second sectionwith respect to the first section around the hinge.
 12. The unmannedhelicopter platform of claim 1, further comprising: a global positioningunit coupled with the fuselage; and at least one global positioningantenna coupled with the fuselage for providing global positioning datato the global positioning unit.
 13. A method for an unmanned helicopterplatform comprising: providing a fuselage housing flight controlelectronics; providing a tail coupled with the fuselage, the tailincluding a tail rotor and a tail rotor motor; providing a main rotorassembly coupled with the fuselage and the flight control electronics,the main rotor assembly including a main rotor having an axis ofrotation and a main rotor motor; and providing a payload rail coupledwith and extending along the fuselage, the payload rail allowingmechanical connection of a plurality of payloads to the fuselage, thepayload rail allowing positioning of the plurality of payloads connectedto the payload rail such that a center of gravity of the plurality ofpayloads is able to be aligned with the axis of rotation of the mainrotor.
 14. The method of claim 13, wherein the main rotor assemblyfurther includes: an enclosed swash assembly including a rotatingportion and a fixed portion, the rotating portion enclosing a centralportion of the main rotor and rotatable with respect to the fuselage,the fixed portion coupled with the fuselage.
 15. The method of claim 14,wherein the payload rail extends from a forward section of the fuselageto an aft section of the fuselage.
 16. The method of claim 13, whereinthe tail is removably coupled to the fuselage, wherein the fuselageincludes a fuselage coupling section and the tail includes a tailcoupling section configured to mate with the fuselage coupling section,the tail coupling section and the fuselage coupling section providing amechanical connection, a data connection and a power connection betweenthe fuselage and the tail.
 17. The method of claim 13, wherein at leastone of the payloads is a battery payload for providing power to the mainrotor motor.
 18. The method of claim 13, wherein at least one of thepayloads is a compute payload.
 19. The method of claim 13, wherein theplurality payloads includes at least one of a laser altimeter module, acamera module, a lidar module, a radar module, a megaphone, a thermalsensor module, and/or a global positioning module.
 20. The method ofclaim 13, further comprising: providing a communication assemblyconnected to the fuselage, wherein the communication assembly is foraccepting a first plurality signals from an external source and forproviding a second plurality of signals from the unmanned helicopterplatform to an external receiver.